{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T00:45:47Z","timestamp":1760229947268,"version":"build-2065373602"},"reference-count":43,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2022,7,1]],"date-time":"2022-07-01T00:00:00Z","timestamp":1656633600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100008815","name":"Unibz ID project \u201cAutomated Process Planning in Cyber Physical Production Systems of Smart Factories\u201d","doi-asserted-by":"publisher","award":["TN201I"],"award-info":[{"award-number":["TN201I"]}],"id":[{"id":"10.13039\/501100008815","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Enforcing the cessation of motion is a common action in robotic systems to avoid the damage that the robot can exert on itself, its environment or, in shared environments, people. This procedure raises two main concerns, which are addressed in this paper. On the one hand, the stopping procedure should respect the collision free path computed by the motion planner. On the other hand, a sudden stop may produce large current peaks and challenge the limits of the motor\u2019s control capabilities, as well as degrading the mechanical performance of the system, i.e., increased wear. To address these concerns, we propose a novel method to enforce a mechanically feasible, smooth and path-consistent stop of the robot based on a time-minimization algorithm. We present a numerical implementation of the method, as well as a numerical study of its complexity and convergence. Finally, an experimental comparison with an off-the-shelf stopping scheme is presented, showing the effectiveness of the proposed method.<\/jats:p>","DOI":"10.3390\/robotics11040070","type":"journal-article","created":{"date-parts":[[2022,7,1]],"date-time":"2022-07-01T01:40:36Z","timestamp":1656639636000},"page":"70","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Online Computation of Time-Optimization-Based, Smooth and Path-Consistent Stop Trajectories for Robots"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3668-7719","authenticated-orcid":false,"given":"Rafael A.","family":"Rojas","sequence":"first","affiliation":[{"name":"Faculty of Science and Technology, Free University of Bozen\/Bolzano, Piazza Universita 1, 39100 Bolzano, Italy"},{"name":"Fraunhofer Italia Research, Via A.-Volta 13A, 39100 Bolzano, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1275-8161","authenticated-orcid":false,"given":"Andrea","family":"Giusti","sequence":"additional","affiliation":[{"name":"Fraunhofer Italia Research, Via A.-Volta 13A, 39100 Bolzano, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7429-0974","authenticated-orcid":false,"given":"Renato","family":"Vidoni","sequence":"additional","affiliation":[{"name":"Faculty of Science and Technology, Free University of Bozen\/Bolzano, Piazza Universita 1, 39100 Bolzano, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,7,1]]},"reference":[{"key":"ref_1","unstructured":"Kyriakopoulos, K.J., and Saridis, G.N. 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